CN105751231B

CN105751231B - A kind of robot end's press feedback device

Info

Publication number: CN105751231B
Application number: CN201610275540.XA
Authority: CN
Inventors: 何文明; 刘胜保
Original assignee: Guangzhou Tech Long Packaging Machinery Co Ltd
Current assignee: Guangzhou Tech Long Packaging Machinery Co Ltd
Priority date: 2016-04-29
Filing date: 2016-04-29
Publication date: 2018-12-28
Anticipated expiration: 2036-04-29
Also published as: CN105751231A

Abstract

A kind of robot end's press feedback device, including the terminal pad being connect with robot mechanical arm end, handgrip of crawl is contacted and implemented to it with material to be processed, terminal pad and handgrip have been respectively fixedly connected with seaming chuck and push-down head, pressure sensor can be relatively moved and be equipped between upper and lower pressure head, and pressure signal is generated by upper and lower pressure head squeeze pressure sensor and sent to robot control system.Robot end's press feedback device mainly passes through relatively-movable upper and lower pressure head, and the pressure sensor being set between upper and lower pressure head realizes pressure and grasping force control, its structure is extremely simple, promotes and is easy, the application that robot can be made to obtain more extensively sending out；Relative to the sensor of other forms, pressure sensor has high sensitivity and reaction speed, can effectively ensure that the feedback speed of pressure, preferably protects a product from damage.

Description

A kind of robot end's press feedback device

Technical field

The present invention relates to robot assisted equipment, are mounted on robot mechanical arm end more particularly to one kind and control it The press feedback device of grasping force.

Background technique

Robot is the automatic installations for executing work, is chiefly used in automation or semi-automatic production, sets in robot It is equipped with manipulator (manipulator is also the modern machines people occurred earliest, and manipulator is often also called robot in modern production), Manipulator common are the claw manipulator for imitating human finger, and the vapour-pressure type of article is drawn with sucker for grabbing article Manipulator.The speed of service of robot is fast, and positioning accuracy is high, and many stations can replace people with robot in manufacturing Work operation, but due to the bad assurance of active force of the manipulator to product, operation that cannot be soft as artificial, may because with Power is excessive and the appearance of product and performance is caused to damage, and largely limits the extensive use of robot as a result,.

Summary of the invention

The present invention is intended to provide a kind of terminal pressure feedback device that can control robot grasping force, so that robot Grasping force it is controllable, the application for avoiding damage to product, while robot being made to obtain more extensively sending out.

Robot end's press feedback device of the present invention, including the connection being connect with robot mechanical arm end Disk, contacts with material to be processed and implements to it handgrip of crawl, and the seaming chuck being fixedly installed in terminal pad is fixed with handgrip The push-down head of connection, push-down head are set to the lower section of seaming chuck and can be mobile relative to seaming chuck, and there are also pressure sensor, pressure is passed Sensor is arranged between seaming chuck and push-down head and is fixedly mounted on seaming chuck, between existing between push-down head and pressure sensor Gap, pressure sensor, which is kept after push-down head squeezes, to be generated pressure signal and send to robot control system.

Robot end's press feedback device of the present invention, terminal pad are fixed on the arm end of robot, when Manipulator can drive press feedback device mobile when mobile, after manipulator is moved to above material to be processed, manipulator band Dynamic terminal pad moves down, and subsequent handgrip grabs material to be processed thereon, and during this, handgrip contacts and starts to act on material Afterwards, material i.e. to handgrip generate reaction force, handgrip and the push-down head being firmly connected with it by upward support force so that under Pressure head is located in present level, and then manipulator continues that seaming chuck is driven to move down, until pressure sensor is by seaming chuck under The extruding of pressure head, pressure sensor generate pressure signal and send the signal to robot control system, and control system controls Manipulator stopping moves down, in this way, robot reaches setting crawl pressure value, handgrip enters subsequent processing after completing crawl material. Robot end's press feedback device mainly passes through relatively-movable upper and lower pressure head, and is set between upper and lower pressure head Pressure sensor realizes pressure and grasping force control, and structure is extremely simple, promotes and is easy, and robot can be made to obtain more wide The application of hair；Relative to the sensor of other forms, pressure sensor has high sensitivity and reaction speed, can effectively protect The feedback speed for demonstrate,proving pressure, preferably protects a product from damage.

Detailed description of the invention

Fig. 1,2 be robot end's press feedback device structural schematic diagram.

Fig. 3 is the schematic diagram of the section structure of robot end's press feedback device shown in Fig. 1.

Fig. 4 is the partial enlarged view of robot end's press feedback device shown in Fig. 3.

Specific embodiment

As shown in Figure 1, 2, a kind of robot end's press feedback device, including with robot mechanical arm end (not shown) The terminal pad 1 of connection contacts with material to be processed and implements to it handgrip 2 of crawl, the upper pressure being fixedly installed in terminal pad First 3, the push-down head 4 being fixedly connected with handgrip, push-down head is set to the lower section of seaming chuck and can be mobile relative to seaming chuck, and there are also press Force snesor 5, pressure sensor are arranged between seaming chuck and push-down head and are fixedly mounted on seaming chuck, push-down head and pressure There are clearance t between sensor, pressure sensor, which is kept after push-down head squeezes, to be generated pressure signal and send to robot control system. As shown in figure 4, the gap between the lower end keypad of push-down head and positioning key is also t when push-down head squeeze pressure sensor.

As shown in figure 3, the relative position of robot end's press feedback device, seaming chuck 3 and push-down head 4 is punished Not She You keyway 6, have positioning key 7, the upper end of positioning key is fixedly mounted in the keyway of seaming chuck, and the side of positioning key is limitation The limit plate 71 of lower platen transverse shifting, the lower end of limit plate cross out the keypad 72 for support push-down head, and push-down head is put It is placed in the keypad of positioning key.On the one hand the setting of positioning key can limit the transverse shifting of push-down head so that upper and lower pressure head it Between relative motion can only be generated towards or away from ground, avoid push-down head from causing to shake because of transverse shifting, and then lead to mistake False triggering pressure sensor；The lower end of positioning key is keypad, and the support push-down head by way of mutually pushing against does not have between the two Fixed not relatively-movable connection relationship, this makes the freedom degree of push-down head high, the contact and pressure generated with storeroom Transmitting it is extremely accurate, be conducive to the accuracy for improving detection accuracy and pressure feedback.

Seaming chuck 3 and push-down head 4 are equipped with opposite groove 8, and pressure sensor 5 is arranged in the groove, pressure sensor line It is stretched out out of groove；The position of pressure sensor is provided with the influence being conducive to from other components or external factor, it is ensured that Better detection effect and pressure feedback accuracy.

It is connected between push-down head 4 and handgrip 2 by connector 9, connector is movably mounted on push-down head, this is advantageous It is needed in the processing for adapting to different material, effectively increases its applicability and replicability；And in order to simplify product structure, make it more Add easy to accomplish and promote, can be attached by screw thread pair between connector and push-down head.

Handgrip 2 is sucker, and according to the claw manipulator of imitative human finger, force mechanism is to be directed toward material from side, Material cannot be pointing directly at push-down head to the reaction of handgrip, will lead to the reduction of detection accuracy and pressure feedback accuracy, together When, due to the structural complexity of claw manipulator, stress, which is directed toward push-down head, will be present biggish error, also result in detection essence The reduction of degree and pressure feedback accuracy；And sucked type handgrip is used, the reaction force of material can be pointing directly at push-down head, Advantageously ensure that the accuracy of detection accuracy and pressure feedback.

Claims

1. a kind of robot end's press feedback device, it is characterised in that: including the connection being connect with robot mechanical arm end Disk (1), contacted with material to be processed and it is implemented crawl handgrip (2), the seaming chuck (3) being fixedly installed in terminal pad, The push-down head (4) being fixedly connected with handgrip, push-down head are set to the lower section of seaming chuck and can be mobile relative to seaming chuck, and there are also pressure Sensor (5), pressure sensor are arranged between seaming chuck and push-down head and are fixedly mounted on seaming chuck, push-down head and pressure There are gap between sensor, pressure sensor generates pressure signal and send to robot control system after being squeezed by push-down head； It is respectively equipped with keyway (6) at the relative position of seaming chuck (3) and push-down head (4), there are positioning key (7), the upper end of positioning key is fixed It is mounted in the keyway of seaming chuck, the side of positioning key is the limit plate (71) for limiting lower platen transverse shifting, under limit plate End crosses out the keypad (72) for support push-down head, and push-down head is placed in the keypad of positioning key.

2. robot end's press feedback device according to claim 1, it is characterised in that: seaming chuck (3) and push-down head (4) it is equipped with opposite groove (8), pressure sensor (5) is arranged in the groove, and pressure sensor line is stretched out out of groove.

3. robot end's press feedback device according to claim 1 or 2, it is characterised in that: push-down head (4) and handgrip (2) it is connected between by connector (9), connector is movably mounted on push-down head.

4. robot end's press feedback device according to claim 3, it is characterised in that: between connector and push-down head It can be attached by screw thread pair.

5. robot end's press feedback device according to claim 1 or 2, it is characterised in that: handgrip (2) is sucker.